Pose of a robot in RTAB SLAM

I want to get the pose of multiple robots by doing SLAM. I am able to build map via both robots at the same time, but how do i get the pose of both robots while simultaneously building map of an unknown environment.

I am getting the pose from /rtab/localization_pose which is exactly same to the pose obtained from TF frames through odometry. Is this how its done in SLAM or am I missing something?

[matlabbe]

If there is no loop closure detected yet, localization_pose will be the same than odometry pose.